Development of novel cutting tools and end-effector for the robotic excision of bone tumours of the lower limb

Bone Tumours are conventionally excised utilising a hand-held oscillating saw with modular implants utilised to act as replacement for the bone removed. This thesis aims to investigate and design alternative methods and technologies which can be utilised to excise bone tumours. This includes the utilisation of novel cutting tools which allow for conformal excision paths which closely align to the morphology of bone tumours. Similarly, a series of novel end effector designs are proposed which allow for the safe and efficient excision of bone tumours for variable osteotomy shape and depth. Finally, an analysis of cutting parameters in a real-world laboratory setting are presented to help identify the most suitable parameters for the excision of bone tumours.